109 lines
5.2 KiB
C++
109 lines
5.2 KiB
C++
// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
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// SPDX-License-Identifier: MIT
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#pragma once
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#include <Jolt/Physics/Collision/BroadPhase/QuadTree.h>
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#include <Jolt/Physics/Collision/BroadPhase/BroadPhase.h>
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#include <Jolt/Physics/PhysicsLock.h>
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JPH_NAMESPACE_BEGIN
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/// Fast SIMD based quad tree BroadPhase that is multithreading aware and tries to do a minimal amount of locking.
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class JPH_EXPORT BroadPhaseQuadTree final : public BroadPhase
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{
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public:
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JPH_OVERRIDE_NEW_DELETE
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/// Destructor
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virtual ~BroadPhaseQuadTree() override;
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// Implementing interface of BroadPhase (see BroadPhase for documentation)
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virtual void Init(BodyManager *inBodyManager, const BroadPhaseLayerInterface &inLayerInterface) override;
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virtual void Optimize() override;
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virtual void FrameSync() override;
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virtual void LockModifications() override;
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virtual UpdateState UpdatePrepare() override;
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virtual void UpdateFinalize(const UpdateState &inUpdateState) override;
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virtual void UnlockModifications() override;
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virtual AddState AddBodiesPrepare(BodyID *ioBodies, int inNumber) override;
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virtual void AddBodiesFinalize(BodyID *ioBodies, int inNumber, AddState inAddState) override;
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virtual void AddBodiesAbort(BodyID *ioBodies, int inNumber, AddState inAddState) override;
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virtual void RemoveBodies(BodyID *ioBodies, int inNumber) override;
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virtual void NotifyBodiesAABBChanged(BodyID *ioBodies, int inNumber, bool inTakeLock) override;
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virtual void NotifyBodiesLayerChanged(BodyID *ioBodies, int inNumber) override;
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virtual void CastRay(const RayCast &inRay, RayCastBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter) const override;
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virtual void CollideAABox(const AABox &inBox, CollideShapeBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter) const override;
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virtual void CollideSphere(Vec3Arg inCenter, float inRadius, CollideShapeBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter) const override;
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virtual void CollidePoint(Vec3Arg inPoint, CollideShapeBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter) const override;
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virtual void CollideOrientedBox(const OrientedBox &inBox, CollideShapeBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter) const override;
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virtual void CastAABoxNoLock(const AABoxCast &inBox, CastShapeBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter) const override;
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virtual void CastAABox(const AABoxCast &inBox, CastShapeBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter) const override;
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virtual void FindCollidingPairs(BodyID *ioActiveBodies, int inNumActiveBodies, float inSpeculativeContactDistance, const ObjectVsBroadPhaseLayerFilter &inObjectVsBroadPhaseLayerFilter, const ObjectLayerPairFilter &inObjectLayerPairFilter, BodyPairCollector &ioPairCollector) const override;
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virtual AABox GetBounds() const override;
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#ifdef JPH_TRACK_BROADPHASE_STATS
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virtual void ReportStats() override;
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#endif // JPH_TRACK_BROADPHASE_STATS
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private:
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/// Helper struct for AddBodies handle
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struct LayerState
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{
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JPH_OVERRIDE_NEW_DELETE
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BodyID * mBodyStart = nullptr;
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BodyID * mBodyEnd;
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QuadTree::AddState mAddState;
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};
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using Tracking = QuadTree::Tracking;
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using TrackingVector = QuadTree::TrackingVector;
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#ifdef JPH_ENABLE_ASSERTS
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/// Context used to lock a physics lock
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PhysicsLockContext mLockContext = nullptr;
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#endif // JPH_ENABLE_ASSERTS
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/// Max amount of bodies we support
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size_t mMaxBodies = 0;
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/// Array that for each BodyID keeps track of where it is located in which tree
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TrackingVector mTracking;
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/// Node allocator for all trees
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QuadTree::Allocator mAllocator;
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/// Information about broad phase layers
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const BroadPhaseLayerInterface *mBroadPhaseLayerInterface = nullptr;
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/// One tree per object layer
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QuadTree * mLayers;
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uint mNumLayers;
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/// UpdateState implementation for this tree used during UpdatePrepare/Finalize()
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struct UpdateStateImpl
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{
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QuadTree * mTree;
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QuadTree::UpdateState mUpdateState;
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};
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static_assert(sizeof(UpdateStateImpl) <= sizeof(UpdateState));
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static_assert(alignof(UpdateStateImpl) <= alignof(UpdateState));
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/// Mutex that prevents object modification during UpdatePrepare/Finalize()
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SharedMutex mUpdateMutex;
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/// We double buffer all trees so that we can query while building the next one and we destroy the old tree the next physics update.
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/// This structure ensures that we wait for queries that are still using the old tree.
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mutable SharedMutex mQueryLocks[2];
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/// This index indicates which lock is currently active, it alternates between 0 and 1
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atomic<uint32> mQueryLockIdx { 0 };
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/// This is the next tree to update in UpdatePrepare()
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uint32 mNextLayerToUpdate = 0;
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};
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JPH_NAMESPACE_END
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